CDS 110b: Robust Performance

CDS 110b

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Course Text

This set of lectures reviews modeling of uncertainty and the use of frequency domain techniques for verifying robust stability and performance of control systems. We begin by exploring how observer-based control systems can lead to non-robust behavior in the closed loop and then discuss how to modify the designs to achieve robust performance.

Monday Unmodeled dynamics Stability and the small gain theorem Examples: observer-based control design

Wednesday Robust performance Design for robust performance H infinity control design

• Lecture notes on robust stability
• Lecture notes on robust performance
• HW #8 (due 14 Mar 08)

References and Further Reading

• K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. Chapter 12 - Robust Performance.
• Guaranteed margins for LQG regulators, J. Doyle